Self-traveling machine

• US 4,702,331 A
• Filed: 04/23/1986
• Issued: 10/27/1987
• Est. Priority Date: 05/28/1985
• Status: Expired due to Term

• Current Assignee: Mitsubishi Denki Kabushiki Kaisha (Mitsubishi Electric Corporation)
• Original Assignee: Mitsubishi Denki Kabushiki Kaisha (Mitsubishi Electric Corporation)
• Inventors: Maeda, Yoichiro, Hagihara, Siro, Tsutani, Sadahiro
• Primary Examiner(s): NOT, DEFINED
• Application Number:
  US06/854,880
• Time in Patent Office: 552 Days
• Field of Search: 180/9.46, 180/9.1, 180/9.3, 180/9.34, 180/9.44, 180/8.7
• US Class Current: 180/9.32
• CPC Class Codes: B25J 5/00 Manipulators mounted on wheels or on carriages B25J1/00 takes precedence; programme-controlled manipulators B25J9/00 ; vehicle aspects B60, B62, e.g. remote-controlled steering for motor vehicles B62D1/24; control of position of vehicles G05D1/00
• CPC Class Codes: B62D 15/00 Steering not otherwise provided for
• CPC Class Codes: B62D 55/04 with tracks and alternative ground wheels, e.g. changeable from endless track vehicle into wheeled vehicle and vice versa for multi-purpose tractors B62D49/0635
• CPC Class Codes: B62D 55/075 Tracked vehicles for ascending or descending stairs, steep slopes or vertical surfacesmagnetic or pneumatic ground-engaging parts B62D55/265; chairs or multi-track cycles specially adapted for invalids A61G5/00
• CPC Class Codes: B62D 55/116 Attitude or position control of chassis by action on suspension, e.g. to compensate for a slope

Abstract

A self-traveling machine incorporating a plurality of drive mechanisms each comprising a combination of a crawler unit having an endless belt and a road wheel. The drive mechanisms makes it possible for the machine to travel on and along a stairway and a rough surface ground by actuating the endless belt, for the machine body to be raised from the ground surface by angularly moving the crawler unit into a vertical position with a free end thereof directed onto the ground, and for the machine to stride over an obstacle on the ground by turning the crawler unit thereover from one side to the other side of the obstacle. The machine also includes a steering mechanism for changing the direction of said combination, with the result that the machine is easily steered to change the direction with reduced friction against the ground surface when the crawler unit is being orientated vertically upwardly.

Claims

1. A self-traveling machine comprising:

a machine body;

a plurality of crawler units, each of the units comprising;

an endless belt entrained on a drive sprocket and an idler sprocket, said drive sprocket being fixed to a drive shaft operatively connected to a first drive motor for driving said endless belt, and

a crawler support arm pivotally supported at one end about said drive shaft and carrying at the other end said idler sprocket for free rotation, said arm being operatively connected to a second drive motor for angular movement; and

a steering mechanism supported on said machine body for angularly changing the direction fo said drive shaft and hence said drive sprocket so as to orientate the traveling direction of the machine.

2. A self-traveling machine according to claim 1, each of said crawler units further including a road wheel directly engageable with a surface on which the machine travels, said wheel being disposed coaxially with said drive shaft of the drive sprocket and having a radius larger than the distance between the axis of said drive shaft and the outer surface of said endless belt disposed about said drive sprocket.

3. A self-traveling machine comprising:

a drive shaft and a drive sprocket connected thereto and driven thereby,

an endless belt driven by said drive shaft through said drive sprocket;

a housing disposed at a level higher than said drive shaft;

first and second actuator means within said housing;

a first transmission shaft connected to said first actuator means and to said drive shaft for rotating said drive shaft;

a second transmission shaft having a crawler arm connected thereto, said second transmission shaft being connected to said second actuator means fora turning said crawler arm;

a lower housing for rotatably supporting said drive shaft;

said drive shaft and said crawler arm being angularly movable about a vertical axis to change the traveling direction of the machine.

4. A self-traveling machine comprising:

(a) a machine body;

(b) a support means secured to a lower portion of said machine body for supporting a plurality of drive mechanisms, each of said drive mechanisms comprising,

(c) a first motor supported by said support means and having a drive shaft connected thereto,

(d) a second motor supported by said support means,

(e) a crawler arm driven to pivotally move about one end thereof by said second motor,

(f) a drive sprocket connected to said drive shaft and driven to rotate by said first motor,

(g) an idler sprocket rotatably mounted on the other end of said crawler arm, and

(h) an endless belt entrained on and about said drive sprocket and said idler sprocket; and

(i) a steering mechanism for changing the axial direction of said drive shaft and said crawler arm

5. A self-traveling machine according to claim 4, said steering mechanism including a motor, a drive shaft driven to rotate by said motor, a spur gear operatively connected to said drive shaft, and a steering shaft rotated by said motor through said spur gear.

6. A self-traveling machine comprising:

(a) a machine body,

(b) a plurality of housings secured to a lower portion of said body;

(c) first, second and third actuator means disposed in each of said housings;

(d) a first shaft and a second shaft, operatively connected to said first and second actuator means, respectively, and extending vertically in said housing;

(e) a plurality of axles each having at one end a drive sprocket for supporting an endless belt thereon;

(f) a plurality of crawler arms each actuated to turn about one end by said second shaft and supporting an idler sprocket on the other end; and

(g) a plurality of means for a rotably supporting said axles, respectively, each of said means having a crawler arm connected thereto and being driven to angularly move by said actuator means for thereby angularly moving the corresponding crawler arm and corresponding axle.

7. A self-traveling machine according to claim 6, each of said first, second and third actuator means comprising a worm gear and a worm wheel operatively coupled with each other.